Automatic acupuncture device for four seam points

Abstract

The invention provides an automatic needling device for four seam points. The automatic needling device comprises a hand placing module, an automatic needling module and an automatic needling module. The hand placing module comprises a hand placing platform and a hand placing groove; the data acquisition module comprises supporting rods, the lower ends of the supporting rods are connected with the hand placing platform, and a camera is arranged at the upper end of the first supporting rod; the needling module comprises a horizontal movement unit, a lifting movement unit and a telescopic movement unit, the horizontal movement unit comprises a moving seat and a first motor, the lifting movement unit comprises a lifting table and a second motor, and the telescopic movement unit comprises a plurality of telescopic movement parts and needling movement parts matched with the telescopic movement parts; the telescopic motion part comprises a telescopic arm and a third motor; the acupuncture motion part comprises a blood sampling arm and a fourth motor; the control module is in communication connection with the camera, the first motor, the second motor, the third motor and the fourth motor. According to the automatic acupuncture device for the four-seam acupoint, four point positions of the four-seam acupoint can be automatically acupuncture at a time, pain is relieved, fear is reduced, and clinical treatment efficiency is improved.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of medical devices, and relates to an automatic needling device for four-seam acupoints, in particular to an automatic needling device for acupuncture therapy, especially pediatric four-seam acupoint acupuncture and bloodletting therapy. BACKGROUND

[0002] Pediatric four-seam acupoint acupuncture and bloodletting therapy is a TCM external treatment method for pediatric food retention and anorexia, which regulates digestive function by stimulating specific acupoints of the fingers. Professional doctors are required to operate the method, which involves using a fine needle to prick four points of the four-seam acupoints and squeeze out a small amount of liquid. The process may cause slight pain but is usually tolerable. Currently, the entire process is completed manually by medical staff, and four pricks are required, which causes great pain to the child and poor clinical treatment efficiency.

[0003] With the rapid development of algorithm recognition acupoint technology, acupuncture robots will become a reality, but there is currently no automatic device suitable for pediatric four-seam acupoint acupuncture and bloodletting therapy. Although the patent with application number CN2021106983425 realizes mechanical positioning and acupuncture of hand acupoints, it cannot realize automatic positioning of hand acupoints and simultaneous acupuncture of multiple acupoints. Although the patent with application number CN2025102642222 can automatically identify acupoints, it cannot complete the squeezing action of pediatric four-seam acupoint acupuncture and bloodletting therapy. Therefore, it is necessary to make further research and exploration. SUMMARY

[0004] In view of the characteristics of the prior art described above, the purpose of the present application is to provide an automatic needling device for four-seam acupoints to solve the problems existing in the prior art of acupuncture therapy, especially pediatric four-seam acupoint acupuncture and bloodletting therapy.

[0005] To achieve the above-mentioned purposes and other related purposes, the present application provides an automatic needling device for four-seam acupoints, comprising:

[0006] A hand placing module, which comprises a hand placing platform and a hand placing groove on the hand placing platform;

[0007] A data acquisition module, which comprises a support rod, the lower end of the support rod being connected to the hand placing platform, and a camera being arranged at the upper end of the support rod, the camera area of the camera corresponding to the hand placing groove;

[0008] The pricking module comprises a horizontal movement unit, a lifting movement unit and a telescopic movement unit. The horizontal movement unit comprises a moving seat and a first motor connected to the moving seat to drive the moving seat to move horizontally. The lifting movement unit comprises a lifting platform and a second motor connected to the lifting platform to drive the lifting platform to move vertically. The lifting platform is sleeved in the moving seat. The telescopic movement unit comprises a plurality of telescopic movement components and a needle pricking movement component matched with the telescopic movement components. The telescopic movement component comprises a telescopic arm and a third motor connected to the telescopic arm to drive the telescopic arm to move horizontally. The needle pricking movement component comprises a blood sampling arm and a fourth motor connected to the blood sampling arm to drive the blood sampling arm to move vertically. The telescopic arm is movably connected to the lifting platform, and the blood sampling arm is connected to the telescopic arm.

[0009] The control module is a controller. The controller is in communication connection with the camera, the first motor, the second motor, the third motor and the fourth motor. The controller is used for receiving the acupoint information sent by the camera, sending instructions to the first motor to drive the moving seat to move horizontally to realize positioning and blood extraction before and after pricking, sending instructions to the second motor to drive the lifting platform to move vertically to realize positioning, sending instructions to the third motor to drive the telescopic arm to move horizontally to realize positioning, and sending instructions to the fourth motor to drive the blood sampling arm to move vertically to realize accurate pricking at the acupoint.

[0010] Preferably, the hand placing platform is hollow and sequentially provided with a first chamber and a second chamber in a direction away from the hand placing groove. The first chamber is provided with a controller. The side wall of the first chamber is provided with a power connection plug and a switch. The second chamber is provided with a power supply. The power supply is in electrical connection with the power connection plug and the switch respectively to receive charging through the power connection plug and realize power supply opening and closing through the switch.

[0011] More preferably, the power supply is in electrical connection with the controller, the camera, the first motor, the second motor, the third motor and the fourth motor respectively.

[0012] More preferably, the power supply is arranged in the second chamber close to the first chamber.

[0013] Preferably, the hand placing groove is sequentially provided with a finger groove section, a palm groove section and a wrist groove section in a direction away from the support rod. The interval groove wall where adjacent fingers are placed in the finger groove section is provided with an adjusting block for moving forward and backward to press against the fingers to determine the finger placement position. The wrist groove section is provided with a wrist buckle for fixing the patient's test hand.

[0014] More preferably, the finger groove section corresponds to the camera area of the camera.

[0015] More preferably, the placement of the four finger seam acupoints in the finger groove segment corresponds to the camera's imaging area.

[0016] Preferably, the hand slot is disposed on the first chamber and extends to the second chamber.

[0017] Preferably, the support rod is provided with a first support section and a second support section in sequence along the direction away from the connected hand platform, the first support section being perpendicular to the hand platform and the second support section being parallel to the hand platform.

[0018] More preferably, the first support section is connected to the side wall opposite to the hand placement platform and the hand placement groove.

[0019] Preferably, the movable seat is located on the hand-holding platform, and a rack is provided below the movable seat. The upper end of the rack passes through the cover plate at the top of the hand-holding platform and is connected to the bottom of the movable seat. A gear is fixed inside the hand-holding platform. The lower end of the tooth surface of the rack meshes with the gear for transmission. The gear is connected to a first motor and is used to rotate the gear through the first motor, thereby driving the meshing rack to move the movable seat back and forth in the horizontal direction.

[0020] Preferably, the movable seat is hollow and open at the top. A second motor is provided at the bottom of the movable seat. A lifting platform is movably sleeved inside the movable seat above the second motor. The screw of the second motor passes through the bottom plate of the lifting platform and is helically engaged with the bottom plate in a threaded manner. A first sensor and a second sensor are provided on one side wall of the movable seat. The first sensor is located at the lower part of the movable seat, and the second sensor is located at the upper part of the movable seat. These sensors are used to drive the second motor to move the lifting platform up and down in the vertical direction, and to control the travel distance of the lifting platform moving up and down in the vertical direction using the first and second sensors.

[0021] More preferably, the first sensor and the second sensor are respectively connected to the controller for receiving travel information of the lifting platform moving in the vertical direction sent by the first sensor and the second sensor, and sending instructions to the second motor to control the lifting platform to move a distance in the vertical direction.

[0022] Preferably, the number of telescopic moving parts is four.

[0023] Preferably, the number of needle-piercing moving parts is four.

[0024] Preferably, the top plate of the lifting platform is provided with a plurality of guide grooves parallel to the extension direction of the hand placement groove. The guide grooves are hollow and movably connected to a telescopic arm. The third motor is located inside the telescopic arm and is fixedly connected to the top plate of the lifting platform. The screw of the third motor is screw-engaged with a nut at the end of the telescopic arm away from the blood collection arm, so as to enable the third motor to push the telescopic arm to slide horizontally in the guide groove.

[0025] More preferably, the number of guide grooves is four.

[0026] Preferably, the telescopic arm is equipped with a fourth motor, which is connected to a cam. The blood collection arm is equipped with a lever with a threaded surface, which is movably connected to the cam via the thread. A blood collection needle is detachably connected to the lever, which penetrates the blood collection arm vertically. A contact sleeve is detachably connected to the lower end of the blood collection arm, which is fitted over the blood collection needle. The contact sleeve is used to drive the cam to rotate when the fourth motor pushes it to rotate, thereby causing the lever to move up and down vertically, which in turn causes the blood collection needle to move up and down.

[0027] More preferably, a compression spring is provided below the lever, and the compression spring is sleeved on the outside of the blood collection needle.

[0028] More preferably, the outer side of the contact sleeve is provided with a mounting groove, and a rubber ring is detachably fitted into the mounting groove.

[0029] More preferably, the contact sleeve is provided with a first sleeve segment and a second sleeve segment from top to bottom, the cross-sectional area of ​​the first sleeve segment is smaller than the cross-sectional area of ​​the second sleeve segment, and the mounting groove is provided on the outer side of the first sleeve segment.

[0030] As described above, the automatic acupuncture device for the four seam acupoints provided by the present invention quickly identifies the acupoints on the patient's hand shape through a data acquisition module, then analyzes the acupoint data of the patient's hand shape through a control module, and then controls the acupuncture module to perform acupuncture treatment on the patient's hand in the placement module through the control module. It automatically performs acupuncture on all four points of the four seam acupoints at one time, which solves the problem of the great pain caused to children by the inability to perform acupuncture on all four seam acupoints at one time in traditional treatments. Moreover, the child cannot see the needles throughout the acupuncture process, which reduces the psychological fear of acupuncture and bloodletting therapy on the four seam acupoints in children. This improves the efficiency of clinical treatment and the patient's compliance. Attached Figure Description

[0031] Figure 1 The diagram shows a three-dimensional structure of an automatic acupuncture device for four-seam acupoints according to the present invention when the needle is inserted into the acupoint.

[0032] Figure 2 The diagram shows a three-dimensional structure of an automatic acupuncture device for four-seam acupoints in this invention when the needle is removed from the acupoint.

[0033] Figure 3 The diagram shown is a cross-sectional plan view of an automatic acupuncture device for four-seam acupoints according to the present invention when the needle is inserted into the acupoint.

[0034] Figure 4 The diagram shown is a cross-sectional plan view of an automatic acupuncture device for four-seam acupoints according to the present invention when the needle is removed from the acupoint.

[0035] Figure 5 The diagram shown is a cross-sectional perspective view of the acupuncture module in an automatic acupuncture device for four seams according to the present invention.

[0036] Figure 6 The diagram shown is a cross-sectional perspective view of the telescopic arm in the acupuncture module of an automatic acupuncture device for four seams according to the present invention.

[0037] Figure 7 The diagram shown is a three-dimensional structural diagram of the hand module in an automatic acupuncture device for four seams according to the present invention.

[0038] Figure 8 The diagram shown is a cross-sectional plan view of the first motor in an automatic acupuncture device for four seams according to the present invention.

[0039] Figure Labels

[0040] 1: Place hand groove;

[0041] 101: Finger groove segment;

[0042] 102: Palm groove segment;

[0043] 103: Wrist groove segment;

[0044] 2: First chamber;

[0045] 3: Second chamber;

[0046] 4: Support rod;

[0047] 41: First support section;

[0048] 42: Second support section;

[0049] 5: Camera;

[0050] 6: Power supply;

[0051] 7: Controller;

[0052] 8: Blood collection arm;

[0053] 9: Telescopic boom;

[0054] 10: Top slab;

[0055] 11: Portable seat;

[0056] 12: Lifting platform;

[0057] 13: Second motor;

[0058] 14: Rack and pinion;

[0059] 15: Gear;

[0060] 16: First motor;

[0061] 17: First sensor;

[0062] 18: Second sensor;

[0063] 19: Fourth motor;

[0064] 20: Cam;

[0065] 21: Blood lancet;

[0066] 22: Lever;

[0067] 23: Compression spring;

[0068] 24: Contact sleeve;

[0069] 25: Rubber ring;

[0070] 26: Nut;

[0071] 27: Third motor;

[0072] 28: Wristband;

[0073] 29: Adjusting block;

[0074] 30: Power connector plug;

[0075] 31: Switch;

[0076] 100: Needle insertion module;

[0077] 200: Hand module. Detailed Implementation

[0078] The following detailed description discloses an embodiment of an automatic acupuncture device for four-seam acupoints according to this application. However, unnecessary detailed descriptions may be omitted. For example, detailed descriptions of well-known matters and repetitive descriptions of actually identical structures may be omitted. This is to avoid making the following description unnecessarily lengthy and to facilitate understanding by those skilled in the art. Furthermore, the following description is provided to enable those skilled in the art to fully understand this application and is not intended to limit the subject matter of the claims.

[0079] The "range" disclosed in this application is defined by a lower limit and an upper limit. A given range is defined by selecting a lower limit and an upper limit, which define the boundaries of the particular range. The range defined in this way can include or exclude endpoints and can be arbitrarily combined; that is, any lower limit can be combined with any upper limit to form a range.

[0080] Unless otherwise specified, all embodiments and optional embodiments of this application can be combined to form new technical solutions.

[0081] Unless otherwise specified, all technical features and optional technical features of this application may be combined to form new technical solutions.

[0082] Unless otherwise specified, the terms "comprising" and "including" as used in this application can be open-ended or closed-ended. For example, "comprising" and "including" can mean that other components not listed may also be included, or that only the listed components may be included.

[0083] Unless otherwise specified, the term "or" is inclusive in this application. For example, the phrase "A or B" means "A, B, or both A and B". More specifically, the condition "A or B" is satisfied by any of the following conditions: A is true (or exists) and B is false (or does not exist); A is false (or does not exist) and B is true (or exists); or both A and B are true (or exist).

[0084] This invention provides an automatic acupuncture device for four-seam acupoints, such as... Figures 1-8 As shown, it includes:

[0085] Hand placement module 200, the hand placement module includes a hand placement platform and a hand placement slot 1 located on the hand placement platform;

[0086] The data acquisition module includes a support rod 4, the lower end of which is connected to the hand-holding platform, and a camera 5 at the upper end of which the camera area corresponds to the hand-holding slot 1.

[0087] The acupuncture module 100 includes a horizontal motion unit, a lifting motion unit, and a telescopic motion unit. The horizontal motion unit includes a movable seat 11 and a first motor 16 connected thereto for pushing the movable seat 11 to move horizontally. The lifting motion unit includes a lifting platform 12 and a second motor 13 connected thereto for pushing the lifting platform 12 to move vertically. The lifting platform 12 is sleeved inside the movable seat 11. The telescopic motion unit includes several telescopic motion components and matching acupuncture motion components. The telescopic motion components include a telescopic arm 9 and a third motor 27 connected thereto for pushing the telescopic arm 9 to move horizontally. The acupuncture motion components include a blood collection arm 8 and a fourth motor 19 connected thereto for pushing the blood collection arm 8 to move vertically up and down. The telescopic arm 9 is movably connected to the lifting platform 11, and the blood collection arm 8 is connected to the telescopic arm 9.

[0088] The control module, namely controller 7, is communicatively connected to camera 5, first motor 16, second motor 13, third motor 27, and fourth motor 19. It receives acupoint information sent by camera 5 and sends commands to first motor 16 to move the movable seat 11 horizontally before and after acupuncture to achieve positioning and bloodletting. It also sends commands to second motor 13 to move the lifting platform 12 vertically to achieve positioning, to third motor 27 to extend and retract the telescopic arm 9 horizontally to achieve positioning, and to fourth motor 19 to move the blood collection arm 8 vertically up and down to achieve accurate acupuncture at the acupoint.

[0089] In the above-mentioned device, such as Figures 1-5 As shown in Figure 7, the hand-holding platform is hollow and has a first chamber 2 and a second chamber 3 arranged sequentially in the direction away from the hand-holding slot 1. The first chamber 2 is equipped with a controller 7. The side wall of the first chamber 2 is equipped with a power connection plug 30 and a switch 31. The second chamber 3 is equipped with a power supply 6. The power supply 6 is electrically connected to the power connection plug 30 and the switch 31 respectively, so as to receive charging through the power connection plug 30 and realize the power supply opening and closing of the power supply 6 through the switch 31.

[0090] In one implementation, such as Figures 1-2 As shown in Figure 5, the power source 6 is a conventionally used power source, such as a storage battery.

[0091] In one embodiment, the power supply 6 is also electrically connected to the controller 7, the camera 5, the first motor 16, the second motor 13, the third motor 27, and the fourth motor 19, respectively, to supply power to the controller 7, the camera 5, the first motor 16, the second motor 13, the third motor 27, and the fourth motor 19.

[0092] In one implementation, such as Figures 1-5 As shown, the power supply 6 is located in the second chamber 3 in the region near the first chamber 2.

[0093] In the above-mentioned device, such as Figure 7 As shown, the hand groove 1 is provided with a finger groove section 101, a palm groove section 102, and a wrist groove section 103 in sequence along the direction away from the support rod 4. An adjustment block 29 is provided on the groove wall between adjacent fingers in the finger groove section 101 for moving back and forth to hold the fingers in place and determine the finger placement position. A wrist buckle 28 is provided on the wrist groove section 103 for fixing the patient's test hand.

[0094] In one implementation, such as Figures 1-5 As shown, the finger groove segment 101 corresponds to the camera area of ​​the camera 5.

[0095] In a preferred embodiment, such as Figures 1-5As shown, the placement of the four acupoints on the fingers in the finger groove segment 101 corresponds to the camera area of ​​the camera 5. This facilitates the collection of finger acupoint data.

[0096] In one embodiment, the adjusting block 29 is a conventionally used adjusting block. Specifically, the adjusting block 29 includes a telescopic block and a telescopic spring connected thereto. The telescopic spring is disposed within the spacer groove wall and one end is connected to the spacer groove wall. The telescopic block is located at the end of the spacer groove wall that contacts the finger and is connected to the other end of the telescopic spring, and is used to adjust the finger placement position under the horizontal extension and contraction of the telescopic spring.

[0097] In one implementation, such as Figure 7 As shown, the wrist buckle 28 is a conventionally used detachable wrist buckle structure. It is used to secure the hand.

[0098] In the above-mentioned device, such as Figures 1-4 As shown, the hand slot 1 is located on the first chamber 2 and extends to the second chamber 3.

[0099] In the above-mentioned device, such as Figures 1-5 As shown, camera 5 is a conventionally used camera. It is used to collect acupoint data on the fingers and send it to the control module. The controller 7 analyzes the data to obtain acupoint data of the patient's hand model.

[0100] In the above-mentioned device, such as Figures 1-5 As shown, the support rod 4 is provided with a first support section 41 and a second support section 42 in sequence along the direction away from the connected hand platform. The first support section 41 is perpendicular to the hand platform, and the second support section 42 is parallel to the hand platform.

[0101] In one implementation, such as Figures 1-5 As shown, the first support section 41 is connected to the side wall of the hand-holding platform opposite to the hand-holding groove 1.

[0102] In the above-mentioned device, such as Figures 1-5 As shown, the movable seat 11 is located on the hand-holding platform. A rack 14 is provided below the movable seat 11. The upper end of the rack 14 passes through the cover plate at the top of the hand-holding platform and is connected to the bottom of the movable seat 11. A gear 15 is fixedly provided inside the hand-holding platform. The lower end of the tooth surface of the rack 14 meshes with the gear 15 for transmission. The gear 15 is connected to a first motor 16 and is used to rotate the gear 15 through the first motor 16, thereby driving the meshing rack 14 to move the movable seat 11 back and forth in the horizontal direction.

[0103] In one implementation, such as Figures 1-5 As shown, the rack 14 and gear 15 are located in the second chamber 3.

[0104] In the above-mentioned device, such as Figures 1-5 As shown, the movable seat 11 is hollow and open at the top. A second motor 13 is provided at the bottom of the movable seat 11. A lifting platform 12 is movably sleeved inside the movable seat 11 above the second motor 13. The screw of the second motor 13 passes through the bottom plate of the lifting platform 12 and is screwed into the bottom plate. A first sensor 17 and a second sensor 18 are provided on one side wall of the movable seat 11. The first sensor 17 is located at the lower part of the movable seat 11, and the second sensor 18 is located at the upper part of the movable seat 11. They are used to drive the second motor 13 to move the lifting platform 12 up and down in the vertical direction, and to control the travel distance of the lifting platform 12 up and down in the vertical direction by the first sensor 17 and the second sensor 18.

[0105] In one implementation, such as Figures 1-5 As shown, the first sensor 17 and the second sensor 18 are respectively connected to the controller 7 for receiving the stroke information of the lifting platform 12 moving in the vertical direction sent by the first sensor 17 and the second sensor 18, and sending instructions to the second motor 13 to control the lifting platform 12 to move a distance in the vertical direction.

[0106] In the above-mentioned device, such as Figures 1-5 As shown, there are four telescopic moving parts.

[0107] In the above-mentioned device, such as Figures 1-5 As shown, the number of needle-piercing moving parts is 4.

[0108] In the above-mentioned device, such as Figures 1-6 As shown, the top plate 10 of the lifting platform 12 is provided with several guide grooves parallel to the extension direction of the hand placement groove 1. The guide grooves are hollow and movably connected to a telescopic arm 9. The third motor 27 is located inside the telescopic arm 9 and is fixedly connected to the top plate 10 of the lifting platform 12. The screw of the third motor 27 is screw-engaged with the nut 26 at the end of the telescopic arm 9 away from the blood collection arm 8, so as to enable the third motor 27 to push the telescopic arm 9 to slide horizontally in the guide groove.

[0109] In one implementation, such as Figure 6 As shown, there are 4 guide grooves.

[0110] In one implementation, such as Figure 6 As shown, the nut 26 is square in shape. It is used to close the end of the telescopic arm 9 away from the blood collection arm 8.

[0111] In the above-mentioned device, such as Figures 1-6As shown, the telescopic arm 9 is equipped with a fourth motor 19, which is connected to a cam 20. The blood collection arm 8 is equipped with a lever 22 with a threaded surface. The lever 22 is movably connected to the cam 20 via the thread. A blood collection needle 21 is detachably connected to the lever 22. The blood collection needle 21 passes through the blood collection arm 8 in a vertical direction. A contact sleeve 24 is detachably connected to the lower end of the blood collection arm 8. The contact sleeve 24 is sleeved on the outside of the blood collection needle 21 and is used to drive the cam 20 to rotate when the fourth motor 19 pushes it to rotate, thereby driving the lever 22 to move up and down in a vertical direction, which in turn drives the blood collection needle 21 to move up and down.

[0112] In one implementation, such as Figure 6 As shown, a compression spring 23 is provided below the lever 22, and the compression spring 23 is sleeved on the outside of the blood collection needle 21.

[0113] In one implementation, such as Figure 6 As shown, the outer side of the contact sleeve 24 is provided with a mounting groove, and a rubber ring 25 is detachably sleeved in the mounting groove.

[0114] In a preferred embodiment, such as Figure 6 As shown, the contact sleeve 24 is provided with a first sleeve section and a second sleeve section from top to bottom. The cross-sectional area of ​​the first sleeve section is smaller than that of the second sleeve section. The mounting groove is provided on the outer side of the first sleeve section.

[0115] The contact sleeve 24 is a disposable sterilization accessory. It can be quickly inserted into the blood collection arm 8 and quickly removed, used to contact and fix the patient's four-seam acupoint. The contact sleeve 24 is made of an elastic material, such as flexible plastic or rubber.

[0116] In the above-mentioned device, such as Figures 1-8 As shown, the first motor 16, the second motor 13, the third motor 27, and the fourth motor 19 are all conventionally used motors, such as lead screw motors.

[0117] In the above-mentioned device, such as Figures 1-5 As shown, the controller 7 is a conventionally used PLC controller (programmable logic controller). Those skilled in the art will understand that the controller's calculation, comparison, judgment, and instruction output processes can all be implemented using existing integrated circuit modules, programmable logic devices, other hardware, or by installing corresponding software modules.

[0118] The following specific examples illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention.

[0119] To further understand the present invention, detailed embodiments are provided below. It should be noted that the given embodiments should not be construed as limiting the scope of the claims. In the following embodiments, unless otherwise specified, the raw materials or processing techniques are conventional commercially available materials or conventional processing techniques in the art.

[0120] In a specific embodiment, the user uses the automatic acupuncture device for the four seam acupoints provided by this invention. First, the child's hand is placed in the hand slot 1 on the hand placement platform, and the child's hand is fixed by the wrist buckle 28. Then, the finger placement position is determined by the adjustment block 29. Next, the camera 5 collects the child's four seam acupoint data and sends it to the controller 7, which is the control module. The controller 7 sends a command to the first motor 16, causing it to drive the gear 15 to rotate, thereby driving the meshing rack 14 to move the moving seat 11 horizontally back and forth to the front of the fingertips. Then, the controller 7 sends a command to the second motor 13, causing the screw of the second motor 13 to push the lifting platform 12 vertically up and down through the base plate. The movement does not exceed the vertical up and down travel distance controlled by the first sensor 17 and the second sensor 18. At the same time, the controller 7 sends a command to the third motor 27, and the four third motors 27 respectively cause the corresponding telescopic arms 9 to slide horizontally in the guide groove of the top plate 10 of the lifting platform 11. The controller 7 also sends a command to the fourth motor 19, which drives the cam 20 to rotate, causing the lever 22 to move up and down vertically, thereby moving the blood collection needle 21 up and down. That is, when no blood collection is being performed, the cam 20 and lever 22 are in contact at the zero position. When blood collection is started, the fourth motor 19 rotates the cam 20, which drives the lever 22 downwards. The lever 22 then moves the blood collection needle 21 downwards, protruding from the end face of the contact sleeve 24, thus inserting it into the patient's four-seam acupoint to complete the acupuncture. After acupuncture, all blood collection needles 21 are withdrawn. Finally, after acupuncture, the first motor 16 also drives the moving seat 11 to reciprocate horizontally to a certain extent. Under the vertical force of the blood collection arm and the compression of the contact sleeve 24, the blood collection treatment is completed through compression.

[0121] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any form or substance. It should be noted that those skilled in the art can make various improvements and additions without departing from the method of the present invention, and these improvements and additions should also be considered within the scope of protection of the present invention. Any modifications, alterations, and equivalent changes made by those skilled in the art based on the above-disclosed technical content without departing from the spirit and scope of the present invention are equivalent embodiments of the present invention. Furthermore, any modifications, alterations, and evolutions made to the above embodiments based on the essential technology of the present invention still fall within the scope of the technical solution of the present invention.

Claims

1. An automatic acupuncture device for four-seam acupoints, characterized in that, include: Hand placement module (200), the hand placement module (200) includes a hand placement platform and a hand placement groove (1) located on the hand placement platform; The data acquisition module includes a support rod (4), the lower end of which is connected to the hand-holding platform, and a camera (5) is provided on the upper end of the support rod (4). The camera area of ​​the camera (5) corresponds to the hand-holding groove (1). The acupuncture module (100) includes a horizontal motion unit, a lifting motion unit, and a telescopic motion unit. The horizontal motion unit includes a movable seat (11) and a first motor (16) connected thereto to push the movable seat (11) to move horizontally. The lifting motion unit includes a lifting platform (12) and a second motor (13) connected thereto to push the lifting platform (12) to move vertically. The lifting platform (12) is sleeved inside the movable seat (11). The telescopic motion unit includes several telescopic motion components and matching acupuncture motion components. The telescopic motion components include a telescopic arm (9) and a third motor (27) connected thereto to push the telescopic arm (9) to move horizontally. The acupuncture motion components include a blood collection arm (8) and a fourth motor (19) connected thereto to push the blood collection arm (8) to move vertically up and down. The telescopic arm (9) is movably connected to the lifting platform (12), and the blood collection arm (8) is connected to the telescopic arm (9). The control module is a controller (7), which is connected to the camera (5), the first motor (16), the second motor (13), the third motor (27), and the fourth motor (19) respectively. It is used to receive the acupoint information sent by the camera (5), and send instructions to the first motor (16) to push the moving seat (11) to move horizontally before and after acupuncture to achieve positioning and bloodletting. It sends instructions to the second motor (13) to push the lifting platform (12) to move vertically to achieve positioning. It sends instructions to the third motor (27) to push the telescopic arm (9) to extend horizontally to achieve positioning. It sends instructions to the fourth motor (19) to push the blood collection arm (8) to move vertically up and down to achieve accurate acupuncture at the acupoint.

2. The automatic acupuncture device for four seam points according to claim 1, characterized in that, The hand-holding platform is hollow and has a first chamber (2) and a second chamber (3) arranged sequentially in the direction away from the hand-holding slot (1). The first chamber (2) is equipped with a controller (7). The side wall of the first chamber (2) is equipped with a power connector (30) and a switch (31). The second chamber (3) is equipped with a power supply (6). The power supply (6) is electrically connected to the power connector (30) and the switch (31) respectively. Preferably, the power supply (6) is also electrically connected to the controller (7), the camera (5), the first motor (16), the second motor (13), the third motor (27), and the fourth motor (19) respectively.

3. The automatic acupuncture device for four seam points according to claim 1, characterized in that, The hand groove (1) is provided with a finger groove section (101), a palm groove section (102), and a wrist groove section (103) in sequence along the direction away from the support rod (4). An adjustment block (29) is provided on the groove wall between adjacent fingers in the finger groove section (101) to move back and forth to hold the fingers in place and determine the finger placement position. A wrist buckle (28) is provided on the wrist groove section (103) to fix the hand.

4. The automatic acupuncture device for four seam points according to claim 1, characterized in that, The support rod (4) is provided with a first support section (41) and a second support section (42) in sequence along the direction away from the connected hand platform. The first support section (41) is perpendicular to the hand platform, and the second support section (42) is parallel to the hand platform. Preferably, the first support section (41) is connected to the side wall of the hand platform opposite to the hand slot (1).

5. The automatic acupuncture device for four seam points according to claim 1, characterized in that, The movable seat (11) is located on the hand platform. A rack (14) is provided below the movable seat (11). The upper end of the rack (14) passes through the cover plate at the top of the hand platform and is connected to the bottom of the movable seat (11). A gear (15) is fixedly provided inside the hand platform. The lower end of the tooth surface of the rack (14) meshes with the gear (15) for transmission. The gear (15) is connected to the first motor (16) and is used to make the gear (15) rotate through the first motor (16) so as to drive the meshing rack (14) to move the movable seat (11) back and forth in the horizontal direction.

6. The automatic acupuncture device for four seam acupoints according to claim 1, characterized in that, The movable seat (11) is hollow and open at the top. A second motor (13) is provided at the bottom of the movable seat (11). A lifting platform (12) is movably sleeved inside the movable seat (11) above the second motor (13). The screw of the second motor (13) passes through the bottom plate of the lifting platform (12) and is screwed to the bottom plate. A first sensor (17) and a second sensor (18) are provided on one side wall of the movable seat (11). The first sensor (17) is located at the lower part of the movable seat (11), and the second sensor (18) is located at the upper part of the movable seat (11). The second sensor (17) is used to drive the lifting platform (12) to move up and down in the vertical direction, and to control the travel distance of the lifting platform (12) moving up and down in the vertical direction by the first sensor (17) and the second sensor (18).

7. The automatic acupuncture device for four seam points according to claim 1, characterized in that, The first sensor (17) and the second sensor (18) are respectively connected to the controller (7) for communication.

8. The automatic acupuncture device for four seam points according to claim 1, characterized in that, The top plate (10) of the lifting platform (12) is provided with several guide grooves parallel to the extension direction of the hand placement groove (1). The guide grooves are hollow and movably connected to a telescopic arm (9). The third motor (27) is located inside the telescopic arm (9) and is fixedly connected to the top plate (10) of the lifting platform (12). The screw of the third motor (27) is screwed and engaged with the nut (26) at the end of the telescopic arm (9) away from the blood collection arm (8), so as to enable the third motor (27) to push the telescopic arm (9) to slide horizontally in the guide groove.

9. The automatic acupuncture device for four seam acupoints according to claim 1, characterized in that, The telescopic arm (9) is equipped with a fourth motor (19), which is connected to a cam (20). The blood collection arm (8) is equipped with a lever (22) with a threaded surface. The lever (22) is movably connected to the cam (20) via the thread. The lever (22) is detachably connected to a blood collection needle (21), which passes through the blood collection arm (8) in a vertical direction. The lower end of the blood collection arm (8) is detachably connected to a contact sleeve (24), which is sleeved on the outside of the blood collection needle (21) and is used to drive the cam (20) to rotate when the fourth motor (19) pushes it to rotate, thereby driving the lever (22) to move up and down in a vertical direction, thus driving the blood collection needle (21) to move up and down.

10. The automatic acupuncture device for four seam points according to claim 9, characterized in that, A compression spring (23) is provided below the lever (22), and the compression spring (23) is sleeved on the outside of the blood collection needle (21); an installation groove is provided on the outer side of the contact sleeve (24), and a rubber ring (25) is detachably sleeved in the installation groove.

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